/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009 - 2014 QGROUNDCONTROL PROJECT This file is part of the QGROUNDCONTROL project QGROUNDCONTROL is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. QGROUNDCONTROL is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with QGROUNDCONTROL. If not, see . ======================================================================*/ #include "MissionControllerManagerTest.h" #include "LinkManager.h" #include "MultiVehicleManager.h" UT_REGISTER_TEST(MissionControllerManagerTest) MissionControllerManagerTest::MissionControllerManagerTest(void) : _mockLink(NULL) { } void MissionControllerManagerTest::cleanup(void) { delete _multiSpyMissionManager; _multiSpyMissionManager = NULL; LinkManager::instance()->disconnectLink(_mockLink); _mockLink = NULL; QTest::qWait(1000); // Need to allow signals to move between threads UnitTest::cleanup(); } void MissionControllerManagerTest::_initForFirmwareType(MAV_AUTOPILOT firmwareType) { LinkManager* linkMgr = LinkManager::instance(); Q_CHECK_PTR(linkMgr); _mockLink = new MockLink(); Q_CHECK_PTR(_mockLink); _mockLink->setFirmwareType(firmwareType); LinkManager::instance()->_addLink(_mockLink); linkMgr->connectLink(_mockLink); // Wait for the Vehicle to work it's way through the various threads QSignalSpy spyVehicle(MultiVehicleManager::instance(), SIGNAL(activeVehicleChanged(Vehicle*))); QCOMPARE(spyVehicle.wait(5000), true); // Wait for the Mission Manager to finish it's initial load _missionManager = MultiVehicleManager::instance()->activeVehicle()->missionManager(); QVERIFY(_missionManager); _rgMissionManagerSignals[canEditChangedSignalIndex] = SIGNAL(canEditChanged(bool)); _rgMissionManagerSignals[newMissionItemsAvailableSignalIndex] = SIGNAL(newMissionItemsAvailable(void)); _rgMissionManagerSignals[inProgressChangedSignalIndex] = SIGNAL(inProgressChanged(bool)); _rgMissionManagerSignals[errorSignalIndex] = SIGNAL(error(int, const QString&)); _multiSpyMissionManager = new MultiSignalSpy(); Q_CHECK_PTR(_multiSpyMissionManager); QCOMPARE(_multiSpyMissionManager->init(_missionManager, _rgMissionManagerSignals, _cMissionManagerSignals), true); if (_missionManager->inProgress()) { _multiSpyMissionManager->waitForSignalByIndex(newMissionItemsAvailableSignalIndex, _missionManagerSignalWaitTime); _multiSpyMissionManager->waitForSignalByIndex(inProgressChangedSignalIndex, _missionManagerSignalWaitTime); QCOMPARE(_multiSpyMissionManager->checkSignalByMask(newMissionItemsAvailableSignalMask | inProgressChangedSignalMask), true); QCOMPARE(_multiSpyMissionManager->checkNoSignalByMask(canEditChangedSignalIndex), true); } QVERIFY(!_missionManager->inProgress()); QCOMPARE(_missionManager->missionItems()->count(), 0); _multiSpyMissionManager->clearAllSignals(); } /// Checks the state of the inProgress value and signal to match the specified value void MissionControllerManagerTest::_checkInProgressValues(bool inProgress) { QCOMPARE(_missionManager->inProgress(), inProgress); QCOMPARE(_multiSpyMissionManager->pullBoolFromSignalIndex(inProgressChangedSignalIndex), inProgress); }